The StereoHead model simulates a generic stereo camera head. It generates the left/right images pairs and the corresponding disparity images.

Left camera image

Right camera image

Left disparity image

A few points to note:

Disparity is returned as a floating point image, with each pixel giving the disparity (in pixels) in the rectified images.

The disparity calculation includes camera occlusion effects (points must be visible by both cameras), so disparity images may be incomplete.

The disparity calculation does not consider surface textures (any non-occluded surface will generate a depth value), so disparity images will be more complete that their real-world counterparts. This may be changed in the future.

There is no noise model for disparity calculations, although users can expect some artifacts from the OpenGL rendering process.